# Patent

## Title
Self-feeding device for an individual

## Abstract

A self-feeding device for a user and method operating is provided. The self-feeding device includes a base assembly having a housing with an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall. A plate is disposed on the upper housing wall of the base assembly, and the plate includes a food compartment having a food item located therein. A feed arm assembly located on the base assembly includes an arm moveable with a predetermined degree of freedom, and a feeding utensil is coupled to the feed arm. A controller actuates the feed arm assembly to obtain the food/drink item from the food compartment via the feed utensil, and to transfer the food item to the user. The methodology includes software to control operation of the self-feeding device within a STORAGE mode, a SELECT mode, and a RETRIEVE food and drink mode.

## Background
CROSS REFERENCE TO RELATED APPLICATIONS
This application claims the benefit of U.S. Provisional Application No. 61/545,305 filed on Oct. 10, 2011, which is incorporated herein by reference in its entirety.


BACKGROUND
The present application relates to a self-feeding device and in particular to a self-feeding device for use by an individual or multiple individuals and a method of controlling the self-feeding device.
Nutrition is a basic human need, and the ability to feed one's self is a skill that is critical to fulfilling this need. However, at times, the ability to feed one's self may be compromised due factors such as a physical disability, age, schedules or the like. For such an individual, they may be reliant on a caregiver to provide assistance in eating and drinking. Such reliance may be a source of frustration for the individual, since they do not have control over the meal, including food choice, order, rate or other requirements.
While an assistive aid that allows for self-feeding is available, these devices have certain limitations that restrict their use. Some self-feeding devices only accommodate a limited range of user capabilities, requiring a high degree of user dexterity or mobility. Other self-feeding devices constrain the user in selecting the order of food intake, or even in the types of foods that can be accommodated, i.e. soups or other liquids. Still other self-feeding devices have limited acceptance since they are bulky, and non-portable. Others do not facilitate drinking of beverages during the meal.
Thus, there is a need in the art for a portable self-feeding device that can accommodate a wide range of users and their specific needs; requires minimal physical interaction by the user; that in appearance, form and function is highly compatible with a conventional dining experience, and allows the user to choose among the various foods presented by the device. Further, there is a need for a self-feeding device that can be remotely controlled, so that a plurality of users may each use a device concurrently with minimal supervision or interaction.
SUMMARY OF THE DISCLOSURE
The present disclosure describes an apparatus, system and method related to a self-feeding device for an individual, The self-feeding device includes a base assembly having a housing with an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall. A plate is disposed on the upper housing wall of the base assembly, and the plate includes a food compartment having a food item located therein. A feed arm assembly located on the base assembly includes a robotic arm moveable with a predetermined degree of freedom, and a feeding utensil is coupled to the feed arm. A controller actuates the feed arm assembly to obtain the food item from the food compartment via the feeding utensil, and to transfer the food item to the user. The self-feeding device may have a predetermined shape to facilitate placement on a dining table, such as a teardrop shape having a plate portion for food at the wider end and a mounting portion for a robotic arm at the narrow end.
The methodology for operating the self-feeding device includes software to control operation of the self-feeding device within a mode, such as a STORAGE mode, a SELECT food compartment mode, and a RETRIEVE food and drink mode. The methodology also includes the step of providing a sensing device for sensing a location of the user's mouth and transmitting a signal to the processor to position the feeding utensil based on the sensed location of the user's mouth.
Advantageously, a self-feeding device is provided which allows for the transport of a user selected food item from a food compartment to the mouth of a user in an intuitive and ergonomic manner to replicate a typical dining experience. An advantage of the present disclosure is that a user may selectively feed themselves independently and with minimal physical movement. Another advantage of the present disclosure is that a number of users may be fed concurrently, with minimal direct caregiver intervention. Still another advantage of the present disclosure is that users with a wide range of physical abilities may be accommodated, including users with reduced or extremely limited control of their extremities, via various switches and wireless components that can be adapted to the individual user needs, allowing the user to send signals to the device thus giving the user control over the operation of the device. Yet still another advantage is that the device is programmable and is operated by software that is maintained in a processor and allows for the operation of the feeding device in various modes including storage mode, a food compartment selection mode, and a retrieve food and drink mode.
A further advantage of the present disclosure is that the feeding device adaptively learns the position of a specific user's mouth, resulting in a pleasant dining experience for the user and reduced food spillage. Still a further advantage of the present disclosure is that a variety of food types, including liquid-based foods such as soups, may be consumed. Yet a further advantage of present disclosure is that the device is portable, lightweight and easily disassembled for cleaning purposes. Still yet a further advantage of the present disclosure is that sensing technology for positioning or accommodating user movement may be utilized, such as RFID, laser, acoustic, infrared, and similar technologies. A still further advantage is that the device allows the user to drink liquids and beverage as part of the meal to replicate a typical dining experience. Yet another advantage of the present disclosure is that the feeding device will also be capable of collecting, storing and transmitting data about the user food and drink consumption to the relevant parties such as medical professionals, nutritionist, caregivers, family members, and others. Still yet another advantage of the present disclosure is that a system for multiple users is provided that further includes an operator controller having a processor with the self-feeding devices in communication with the operator controller to monitor each of the users and directly control the devices if necessary. A further advantage of the present disclosure is that the feeding device will also be capable of recognizing a particular user and adjusting to the requirements of that particular user. Still a further advantage of the present disclosure is that the base assembly has a teardrop shape having an overall size to easily fit on a dining table similar to a conventional plate.
Other features and advantages of the present disclosure will become readily appreciated based upon the following description when considered in conjunction with the accompanying drawings.



DESCRIPTION OF THE DRAWINGS
FIG. 1 is an elevational view of a self-feeding device.
FIG. 2 is a diagrammatic view of a system for using the self-feeding device of FIG. 1 with multiple users.
FIG. 3 is another elevational view of the self-feeding device of FIG. 1.
FIG. 4 is an exploded view of the self-feeding device of FIG. 1.
FIG. 5 is an exploded view of the plate assembly for the self-feeding device of FIG. 1.
FIG. 6 is an enlarged elevational view of a plate positioning mechanism for the self-feeding device of FIG. 1.
FIG. 7 is an enlarged elevational view of a portion of the plate positioning mechanism of FIG. 6.
FIG. 8a is a perspective view of a base assembly for the self-feeding device of FIG. 1.
FIG. 8b is a bottom view of the base assembly of FIG. 8a. 
FIG. 9 is a perspective view of a feed arm assembly for the self-feeding device of FIG. 1.
FIG. 10 is a perspective view of a combined spoons and straw for use with the self-feeding device of FIG. 1.
FIG. 11a is an enlarged view illustrating an input device for operating the self-feeding device of FIG. 1.
FIG. 11b is another enlarged view illustrating another example of an input device for operating the self-feeding device of FIG. 1.
FIG. 12 is a schematic view of a system diagram for the self-feeding device of FIG. 1.
FIG. 13 is a flowchart illustrating a method of using the self-feeding device of FIG. 1.
FIG. 14 is a schematic view illustrating user operation of the self-feeding device of FIG. 1.
FIG. 15a is an elevational view illustrating the self-feeding device of FIG. 1 in a storage position.
FIG. 15b is an elevational view illustrating the select food compartment mode of the self-feeding device of FIG. 1.
FIG. 15c is an elevational view illustrating a first transfer position of the feed arm assembly for the self-feeding device of FIG. 1.
FIG. 15d is an elevational view illustrating a scooping motion of the feed arm assembly for the self-feeding device of FIG. 1.
FIG. 15e is an elevatonal view illustrating a second transfer position of the feed arm assembly for the self-feeding device of FIG. 1.
FIG. 15f is an elevational view illustrating a mouth locating position of the self-feeding device for the self-feeding device of FIG. 1.



DESCRIPTION
Referring to FIGS. 1-12, a self-feeding device 10 for feeding a user is generally illustrated herein. The self-feeding device 10 may be utilized by one user 12, or a plurality of self-feeding devices 10 can concurrently be used to feed move than one user 12 as shown in FIG. 2. The self-feeding device 10 allows a user 12 to independently and selectively feed themselves according to the user's desires and specific intention. The self-feeding device 10 is portable, and can be used in a variety of settings, such as a table, bed, or the like. Also, the self-feeding device 10 is adaptive, and learns where to place the food item 8 according to the user's anatomy. The self-feeding device 10 is flexible, and a variety of food types may be accommodated, including solid, liquid, pureed, or the like.
The self-feeding device 10 includes a base assembly 32 that contains the food item 8 and supports a feed arm assembly 26 in a manner to be described. The base assembly 32 includes a housing 34 having an upper wall 34a, an opposed lower wall 34b, and a sidewall 34c extending therebetween. An interior cavity is formed by the walls of the housing assembly 34, to house and protect the components, such as motors, electronics and controls, for the self-feeding device 10 in a manner to be described. Further, the housing upper wall 34a may completely or partially enclose the interior space of the base assembly 32. The housing upper wall 34a may be a separate member, i.e. part of the plate assembly, or integral with the housing lower wall and side wall. The housing upper wall 34a or plate assembly 44 may serve as a food compartment receiving portion 36 of the base assembly 32 in a manner to be described. The base assembly 32 also includes a feed arm support portion 38, which in this example is adjacent the food compartment plate receiving portion 36, and provides an attachment surface for the feed arm assembly 26. The feed arm 26 is removably mounted to the base assembly 32 using a fastening mechanism, such as via a magnetic attachment, fastener or the like. In an example, the feed arm support portion 38 may include an aperture 34d formed in the housing upper wall 34a for receiving a portion of the feed arm assembly 26, and the feed arm assembly 26 is secured to the housing lower wall 34b via a fastener.
The base assembly 32 may having a mounting element 40 coupled thereto an outer surface of the housing lower wall 34c. The mounting element 40 aids in establishing stable placement of the self feeding device 10 on a planar surface such as a table, tray, or the like. The mounting element 40 may be any type of tacky material made of a plastic, rubber, silicon, or a suction cup or the like. In another example, the mounting element 40 may be a fastener that has one end secured to the feeding device and a clamp mechanism on the opposing side, such as to attach or secure the assembly to a stand or crane (not illustrated). For example, the clamping mechanism could also allow the self-feeding device 10 to be securely mounted to another surface, such as a non-flat surface or other types of surfaces. For example, the self-feeding device 10 could be mounted to a portion of a chair or bed.
The self-feeding device 10 includes a plate assembly 44 for holding the food item 8, and the plate assembly 44 is operatively disposed in the base assembly 32. The plate assembly 44 may be fixed or rotatable via selective actuation of a plate positioning mechanism 46. In an example, the plate positioning mechanism 46 is a motor, although other types of mechanisms for facilitating a predetermined orientation of a position of the plate assembly 44 with respect to the feed arm assembly are contemplated.
The plate assembly 44 of this example is generally round and concave in cross-sectional shape. The plate assembly 44 is adapted to be removably attached to the base assembly 32. For example, the plate assembly 44 may have an attachment feature (not illustrated) located on an underside of the plate (not shown), such as a socket or the like, to secure the plate assembly 44 to the plate positioning mechanism 46. The plate assembly 44 of this example includes an inner plate 48 secured to an outer plate 50. In this example, the outer plate serves as a portion of the housing upper wall 36 to enclose the base assembly 32. An interior of the inner plate 48 forms a compartment 54 for receiving and holding the food item 8. The inner plate 48 could contain one or more food compartments 54. The inner plate 48 and outer plate 50 when removed from the plate assembly 44 can be cleaned, such as by a typical industrial or home dishwasher apparatus.
In an example of a removable food compartment 54, the inner plate 48 includes a frame 52 having an opening 52a, and the food compartment 54 is supported within the frame opening 52a. The frame 52 may have a plurality of openings 52a and a food compartment 54 is supported within the corresponding frame opening 52a, although other configurations are contemplated. In an example of a plate assembly having a fixed food compartment 54, the frame 52 and food compartment 54 are integral and formed as one member. An outermost edge of the frame 52 forms a rim 56 which provides a support feature for the inner plate 48 with respect to the outer plate 50. In the illustrated example, the inner plate 48 contains four food compartments 54, and the shape and number of food compartments is non-limiting. The inner plate 48 may have additional features, such as a cut-away portion integrally formed in the in the rim as shown at 48a, that acts as a removal handle for disengaging the inner plate 48 from an outer plate 50.
The inner plate 48 may also include an integrally formed tab 58 that extends from an edge of the food compartment into a center of the food compartment 54. The tab 58 may serve as a food guard. The tab or food guard 58 may extend upwardly away from the food compartment 54 and at a predetermined angle towards a center of the food compartment 54. Further, a tab or food guard 58 may be associated with each corresponding food compartment 54. In another example of a removable food compartment, the tab 58 may be formed in the food compartment 54 and also provide a gripping surface for removing the food compartment 54 in addition to a serving as a food guard.
The food compartment 54 likewise has a predetermined shape that is designed to allow for efficient food capture by the feed arm assembly 40. The food compartment 54 may be formed using a material having a natural high lubricity, such as a plastic material. Such a material encourages, in conjunction with the shape of the food compartment 54, the food product to gather in the center of the food compartment 54, where it may be effectively captured by the feed arm assembly 26. Each food compartment 54 may also be configured in such a way as retain the food within the food compartment 54. The food compartment 54 may include other features, such as an integrally formed fill line 60 at one or more predetermined locations of the food compartment. For example, the fill line 60 may indicate an uppermost location at which a food item 8 may be filled to in the food compartment 54.
The outer plate 50 has a shape that is complementary to that of the inner plate 48 and the base assembly. In this example, the outer plate 50 is generally circular in shape, and includes an integrally formed food compartment corresponding in shape to that of the inner plate food compartment 54. The inner plate 48 may be orientated and retained by the outer plate 50 in a positive manner via an engagement mechanism. For example, an engagement rib 62 may be integrally formed on an outer surface of the inner plate 48, and a complementary engagement channel 64 may be formed in an inner surface of the outer plate 50, such that the inner plate engagement rib 62 is retained within the outer plate engagement channel 64 in a positive manner, forming a mechanical lock that can be unlocked so that the outer plate and inner plate can be disassembled, such as for cleaning purposes or for personalization preferences. Other types of engagement mechanisms are contemplated so that the inner plate 48 and outer plate 50 can rotate together as one unit.
Referring to FIGS. 6-7, the self-feeding device 10 may also include a plate positioning mechanism 46 for rotatably controlling positional movement of the plate assembly 44 with respect to the base assembly 32. The plate positioning mechanism 46 is secured to the base assembly. For example, the base assembly 32 may include a mounting boss 66 projecting upwardly from an inner surface of the housing lower wall 34b for locating the components of the plate positioning mechanism 46. A portion of the plate positioning mechanism 46 may be received within a socket (not illustrated) formed in the outer plate 50 in a manner to be described. An outer surface of the outer plate 50 may include a groove or indentation for receiving a roller track 70 to facilitate rotational movement of the plate assembly 44. The roller track 70 is ring-shaped and in this example may be configured to slidably engage the plate positioning mechanism 46. The plate assembly 44, via the roller track 70, may be supported within the base assembly 32 via an integrally formed support feature 72 spaced circumferentially around the housing side wall 34c. The base assembly 32 may include other types of mounting features, such as another mounting boss situated on an inner surface of the housing.
The plate positioning mechanism 46 also includes a plate actuator 74 that controls movement of the plate assembly 44. In this example the plate actuator 74 is a motor, although other types of actuators may be utilized. The plate actuator 74 is operatively connected to a drive assembly 76. The drive assembly 76 of this example includes a motor mount, such as a ball bearing or the like. The plate actuator 74 is coupled to the motor mount, and actuates a drive gear 80 that is coupled to a drive shaft 82. The drive shaft 82 operatively engages the plate assembly 44 to control the rotational movement of the plate assembly 44. In this example, the drive shaft 82 engages the socket formed in the outer plate 50 of the plate assembly 44.
The self-feeding device 10 further includes a controller 14 that operatively controls operation of the device in a manner to be described. For example, the controller 14 effectuates the rotational movement of the plate assembly 44 based on an input signal 118 from the user 12 via a user input device 28. The controller also facilitates movement of the feed arm assembly 26 in a manner to be described. The controller 14 is located within a cavity formed in the base 32. The controller 14 receives various signals, processes the signals and provides an output signal 120 to control the self-feeding device 10. The input signal 118 and output signal 120 may be communicated via a signal transmission protocol, i.e. a wired connection, or a wireless connection via a signal transmission mechanism 16. An example of a signal transmission mechanism 16 is a wireless transceiver, i.e. RFID, Wi-Fi, Bluetooth, Infrared, or the like. The signal transmission mechanism 16 may be integral with another component or stand alone. For example, the controller 14 may include a signal transceiver 16 for communicating with a user input device 28 (e.g., a food choice select button, an eat button, a drink button or the like), and the user input device 28 has a corresponding signal transceiver. The signal transceiver 16 may be integral with a sensing device 20 to transmit the sensed signal. Alternatively, the signal transceiver 16 may be a signal transmitter or a signal receiver that operates according to a predetermined communications protocol, such as a RFID communications protocol.
The self feeding device 10 still further includes a power source 22 that is disposed within the cavity formed in the base assembly 32 and provides power to the various components of the self-feeding device. The power source 22 may be AC or DC or solar or the like. In an example of a battery, the battery may be rechargeable. The power source 22 provides power to the various actuators, such as the controller 14 or the feed arm assembly 26. Access to the power source 22 may be provided via a door 84 formed in the base housing 34 as shown in FIG. 3.
Referring to FIG. 9, the feed arm assembly 26 is a robotic arm assembly that transfers food or drink between the food compartment 54 or a cup 116, and the user 12. The feed arm assembly 26 employs multiple arms and actuators, which enables arm movement with multiple degrees of freedom, such as motion related to the angular motion in the roll (z), pitch (x), and yaw (y) direction or the like. The example provided illustrates a feed arm assembly 26 having five degrees of freedom (n), although in other examples, the feed arm assembly could have fewer or more degrees of freedom (n) depending on the how refined or natural of an arm movement is desired. The feed arm assembly 26 includes a feed arm housing 42 that encloses the feed arm and protects the individual components as shown in FIGS. 1 and 15a. The feed arm housing is generally cylindrical, and is formed from a plastic material or other such suitable material. The feed arm housing 42 may include a plurality of segments, which each segment interconnected so as to form a flexible joint. Various types of joints are contemplated, depending on the movement associated with the degrees of freedom of the interconnected arm segments that form the feed arm assembly 26.
The feed arm assembly 26 includes a feed arm support member 88. The feed arm support member 88 is secured to the base assembly 32. In an example, the feed arm support member 88 may be attached to the base assembly housing 34. The feed arm support member 88 may be stationary or rotatable depending on the desired action of the feed arm assembly 26 A portion of the feed arm support member 88 may be located within the base assembly housing 34 and extend through the aperture formed in the housing upper wall 34d, to provide additional stability and support to the feed arm assembly 26. If rotational, the feed arm support member 88 may be rotational about a first axis 90 that is vertical in order to position the feed plate assembly in a horizontal plane. A first feed arm actuator 91 positioned adjacent the feed arm support member 88, such as a servo motor or the like, facilitates the rotational movement of the feed arm support member 88. The rotational movement of the feed arm assembly 26 positions the aim with respect to a selected food compartment.
The feed arm assembly 26 also includes one or more arms that are pivotally interconnected. The configuration of each of the arms is non-limiting, and determined by the desired movement of the feed arm assembly 26. In this example, a first arm 92 is pivotally connected to the feed arm support member 88 at a second axis 94 that is essentially horizontal, so as to provide pivotal movement of the first arm 92. Further, the first arm 92 of this example is a U-shaped member having a first leg 92a, a second leg 92b opposite the first leg 92a, and a third leg (not illustrated) interconnecting the first leg 92a and second leg 92b. A first end of the first leg 92a and a first end of the second leg 92b are each pivotally connected to the feed arm support member 88 at the second axis 94, and the second axis 94 is essentially perpendicular to the first leg. An example of a first feed arm actuator 91 is a servo motor or the like. A second feed arm actuator 93 controls movement of the first arm 92 in a generally vertical plane with respect to the base assembly 32 about the second pivot axis 94.
The feed arm assembly 26 includes a second arm 98 that is pivotally connected to the second end of the first arm 92 at a third pivot axis 96. The second arm 98 of this example has a first end 98a that is connected to the first arm 92, and an opposed second end 98b that is pivotally connected to a third arm 102. The second arm 98 may be a single bar, or two bars, and the configuration is non-limiting. The second arm 98 is pivotal with respect to the first arm 92. Movement of the second arm 98 is controlled by a third feed arm actuator 95. An example of a third feed arm actuator 95 is a servo motor. The third feed arm actuator 95 may be located within an enclosure formed in the second arm 98. In this example, the feed arm actuator 95 actuates the second arm 98 in a generally vertical plane with respect to the base assembly 32.
The feed arm assembly 26 also includes a third arm 102 pivotally connected to the second arm 98 at a fourth pivot axis 104. The third arm 102 of this example has a first end 102a that is connected to the second arm 98, and an opposed second end 102b that is pivotally connected to a fourth arm 106. The third arm 102 may be a single bar, or two bars, and the configuration is non-limiting. The third arm 102 articulates, or pivots with respect to the second arm 98. Movement of the third arm 102 is controlled by a fourth feed arm actuator 97. An example of a fourth feed arm actuator 97 is a servo motor. The fourth feed arm actuator 97 may likewise be located within an enclosure integrally formed in the third arm 102, which in this example is located at the first end 102a of the third arm 102.
The feed arm assembly 26 of this example also includes a fourth arm 106 pivotally connected to the third arm 102 so as to pivot about a fifth pivot axis 108. The fourth arm 106 of this example has a first end 106a that is connected to the third arm 102. The fourth arm 106 may be a single bar, or two bars, and the configuration is non-limiting. In this example the fourth arm 106 is a shaft. The fourth arm 106 may articulate with respect to the third arm 102 or be fixed.
The feed arm assembly 26 further includes a feed utensil 110 removably connected to the fourth arm 106 via a connector 122. The connection may be fixed, or provide for refined movement of the feed utensil 110 with respect to the fourth arm 106 to position the feed utensil 110 in the mouth of the user 12. Movement of the feeding utensil 110 may be controlled by a fifth actuator 99, such as a servo motor or the like, which may be integral with the feed utensil 110, or located outside the feed utensil 110. Various types of feeding utensils 110 may be utilized, such as a conventionally available straw, knife, spoon, fork spork or some combination thereof. The feed utensil 110 may be selectively determined to accommodate a liquid or solid food product.
A sensing device 20 and a signal transceiver 16 may be positioned on the feed arm assembly 26, i.e. on the feed utensil 10 or on an arm, for communicating a position of the user's mouth, or locating the position of the user's mouth. An example of a sensing device 20 is a displacement or distance sensor. The feed utensil 110 may be secured to the feed arm assembly 26 using a connector 122, such as a clamp, a screw, an interference fit or the like and the selection is non-limiting. The feed utensil 110 may be interchanged during the meal. Since the feed utensil 110 may include multiple utensils, the user is able to select the most appropriate utensil for the food product being consumed.
Referring to FIG. 10, an example of a feed utensil 110 that is a combined spoon and straw is shown at 124. The combined spoon and straw 124 is a double-sided apparatus which allows the user 12 to both eat and drink from the same utensil. The combined spoon and straw 124 includes an elongated shaft 126 that is hollow. Secured to one end of the elongated shaft 126 is an integrally formed arcuate member forming a spoon 128 for receiving and transferring the food item 8. In another example, the outermost edge of the spoon includes grooves to form tangs, similar to a fork for spearing the food item 8. The opposite end of the combined spoon and straw 124 is open as shown at 129 to provide egress of the liquid food item 8. The combined spoon and straw 124 may also include a port 130 formed in the shaft 126 for redirecting a liquid through the shaft 126. The feed arm assembly 26 may include a flexible tubing 132 that has one end interconnecting with the port 130 formed in the shaft and a second end disposed with a food compartment or beverage container for a liquid. The liquid food compartment may be integral with the base 32 or a separate liquid receptacle 116, i.e. a cup, glass, or mug, that is adjacent thereto. The combined spoon and straw 124 may be formed of a suitable material, such as plastic, metal, or the like. The combined spoon and straw likewise may include a signal transceiver 16 and sensing device 20, such as for communicating a location of the user's mouth or locating the food compartment.
Referring to FIG. 12, a system diagram illustrating the operation of the self feeding device 10 is illustrated at 200. The system 200 includes a controller 14 that controls operation of the feeding device 10 in a manner to be described. The controller 14 may include a microprocessor and a computer readable storage medium. The controller 14 may also include a software program that resides within the computer readable storage medium, i.e. memory, to control operation of the self-feeding device 10. The software program operatively controls the movement and position of the feed arm assembly 26 to both capture the food or liquid which is situated in one or more of the food compartments 54 or 116 and to subsequently present the captured food product (solid or liquid) to the user 12, i.e. user's mouth.
The controller 14 receives and processes an input signal 118, from various sources, such as from the user input device 28 or another sensing device 20. An output control signal 120 may be generated by the controller 14, such as to provide an instructional command to the feed arm assembly 26 or plate assembly 44. Either the input signal 118 or the output signal 120 may be communicated using any type of signal transmission protocol, such as wired, wireless, or a combination thereof via the signal transmission mechanism 16.
The user input device 28 is operable by the user 12 to communicate the user's intent to the controller 14. For example, the user 12 may communicate a food compartment selection, a utensil selection or that the meal is complete. Various types of user input devices 28 may be utilized, depending on the needs and accommodations of the user 12. The user input device 28 may be a control such as a motion sensor, a button, voice activation source, physical movement activation source, a neural signal, or the like. With respect to a neural signal, a neural control protocol may be utilized with the self-feeding device 10 for converting a neural input signal (e.g., the user's thoughts) generated by the foregoing sensors into neural input signal to the controller 14. Accordingly, depending upon the nature of the user's physical ability, the self feeding device 10 may be easily operated by a user 12. The determination of what type of activation mechanism will be employed may be selected in part based upon the nature of the user's physical abilities.
The user input device 28 may communicate a desired function of the user, such as a “SELECT” function or an “eat” function. The user input device 28 may be easily actuated by a user 12 to control the movement of the feed arm assembly 26 as shown in FIGS. 11a and 11b. In addition, the user input device may be conveniently placed depending on user accommodations. As an example, a control may be placed in a location where the user has mobility (e.g., on the floor to be actuated by the user's feet, on a table to be actuated by a user's arms, or the like). In another example, the user input device 28 may be a pressure sensitive pad positioned in a location where the user 12 has some movement in order to exert pressure to control the operation of the feeding device (e.g., foot pads, elbow pads, micro switches etc.). Similarly, various other mechanical, electrical, or neural devices may be attached to the user's body in an area where the user 12 has some type of motor and/or neural control to convey the intended signal. The user input device 28 may include an integral signal transmission mechanism 16 as previously described.
The signal transmission device 16 is operatively in communication with the controller 14 via a signal transmission protocol, and such signal transmission protocol between the signaling device and the controller 14 may be wired or wireless or the like. In an example, the signal transmission device 16 may be a receiver, transmitter or a transceiver capable of receiving or transmitting a signal respectively. An example of a wireless receiver, transmitter or transceiver is an RFID communication protocol, although other types of communication protocols are contemplated, and the selection is non-limiting.
The system 10 may also include various types of sensing devices 20 depending on the feature. For example, a displacement sensor 21 may be used to sense a position of the user's mouth in order to intake the food item and transmits a corresponding input signal 118 to the controller 14 via a signal transmission mechanism 16. The self-feeding device 10 may use the user's mouth position to adaptively learn the food intake position of the particular user 12, i.e. the user's mouth, and remember this position so as to automatically position the feed arm assembly to feed the particular user 12. An example of a sensing device 20 may include a first transducer situated at the end of the feed arm assembly 26 near the feeding utensil 110. The user may have a second transducer located near user's mouth to properly position the feeding utensil with respect to the user's mouth. In an example, the second transducer may be affixed to the user 12 i.e. to the bottom of their chin or elsewhere to allow the feed arm assembly 26 to be properly positioned with respect to the user's mouth. The first transducer and second transducer may send a signal to a signal transmission mechanism 16 associated with the controller. As described, the signal transmission device 16 may be an RFID transceiver that advantageously provides greater accuracy regarding the positioning of the feed arm assembly 26 with respect to the food item included in the food compartment and the user's mouth. Thus, the second RFID transceiver located on the user 12 transmits an input signal 118 indicating the position of the user's mouth to the RFID transceiver 16 located in the feeding device. The controller 14 processes the input signal to establish the location of the user's mouth, and the location of the user's mouth is transmitted to the feed arm assembly 26 as an output signal 120.
The feeding device 10 may include an identity sensor 24 that senses the identity of the user 12, and adaptively controls the feed arm assembly 26 based on information learned regarding the user 12. The identity sensor 24 may also include a signal transmission mechanism 16 for communicating with the controller 14. The information regarding the user may be stored in a memory associated with the feeding device controller, or in remote controller 140. Referring back to FIG. 2, the remote controller 140 may be a separate computer that is in communication with the feeding device 10. The remote computer 140 may be operated by an individual such as a supervisor 150 in an institutional setting. The remote computer 140 may be in communication with a plurality of feeding devices 10, and provides personalized control of each device.
The system 200 may include other components that are conventionally known in the art. For example, the system may include additional electrical and mechanical features such as displacement sensors, weight sensors, force feedback sensor, network components, or RFID transceivers. Other examples of conventional components include an electronics board, a wireless controller receiver, or a wiring harness. The wiring harness of the computer assembly connects the aforementioned electronics to a power source 22 or a power switch. The system receives power from the power source in order to operate the system components.
Referring to FIGS. 13-15, a method of self-feeding a user 12 using the self-feeding device 10 is illustrated. It is anticipated that the method can be utilized with one user 12, or with multiple users. Each user 12 can independently select between several compartments of food, capture and transport a food item to their mouth or other food intake port.
The method begins in block 500 with the step of assembling the plate assembly 44 to the base 32 of the self-feeding device 10. In this example the plate assembly 44 is supported by the supports 72 formed in the housing 34. It should be appreciated that the self-feeding device 10 is portable and may be utilized in various environments beyond a conventional dining table through the use the mounting element. For example, the self-feeding device 10 may be mounted to a hospital bed or other setting to accommodate the special needs of the user as previously described. The overall shape of the base assembly, is selectively determined so create a typical dining experience for the user. The shape may be a teardrop shape having a plate portion for food at the wider end and a mounting portion for a robotic arm at the narrow end.
The methodology advances to block 505 and includes the step of placing a prepared food item in a food compartment 54 associated with the plate assembly 44, or a separate food compartment adjacent thereto, such as a cup or glass 116. The food may be prepared according to the needs of the user 12, i.e. diced, pureed, mashed, cut or the like. In an example, the food capacity of each food compartment 54 may be customized depending on the nutritional requirements of the user 12. The fill line 60 helps prevent overfilling of the food compartment 54.
The methodology advances to block 510 and includes the step of initially learning user 112 requirements. For example, initial user requirements may be programmed into the controller associated with the feeding device or a remote controller, such as via prompts in a LEARN mode. Alternatively, user requirements may be maintained within a remote server 140 associated with the controller 14 and subsequently retrieved. The feeding device 10 may have an input device, such as a screen, or control or the like. The input device may be an LED or LCD screen with buttons for digital input, a touch screen, or the like. Each individual using the self feeding device may create a profile containing their personal ergonomic setting. These setting may include information such as: Transfer Robot lift height, horizontal travel and angular rotation. Alternatively, user requirements may include user food sequence preference, predetermined feeding rates, height and location of user intake, such as user mouth or feeding tube by way of example. For example, the location of the user's mouth 12 may be selectively determined using the sensing device 20 associated with the feed arm assembly and communicated to the controller 14 via the RFID transceiver. In an example of a returning user 12, the user 12 is identified by the system, and specific user parameters may be retrieved and the feeding device calibrated to the user's needs.
The methodology advances to block 515 and the user 12 is thereafter provided with the ability to selectively actuate the self-feeding device 10 via the user input device 28. For example, the user may access various modes that provide a specific function, such as to select a food compartment 54 or to retrieve a food item and to deliver directly to the mouth of the user as desired.
If the user 12 selects a STORAGE mode, the methodology advances to block 520 and the feed arm assembly 26 is not actuated, and feeding is not available. The STORAGE mode may prevent accidental or unintended operation of the self-feeding device 10. In the STORAGE mode, the plate assembly 44 may be easily disengaged from the base 32, and may be easily stored, cleaned, and prepared with all other dishware in various settings, including: an institutional cafeteria, private home, and the like. The plate assembly 44 may be made from a dishwasher safe material. It should be appreciated, additional components of the self-feeding device 10 such as a feed utensil 110 and beverage container 116 is similarly dishwasher safe. Referring to FIG. 15a, the feed arm assembly 26 is located in a storage position as shown at 142. In this example, the feed arm assembly 26 is in a retracted position in the storage mode, but may still provide access to the food compartment 54. If the power switch is on, or in between bites, the STORAGE mode may include a “READY” feature.
Returning back to block 515 and if the user 12 selects a RETRIEVE food mode, the methodology advances to block 530 and selects a food compartment. For example, the user 12 may activate an EAT control 28 to send an input signal 118 to the controller 14 requesting that the plate position mechanism 46 be actuated to rotate the plate assembly 44 so that the selected food compartment 54 is accessible to the feed arm assembly 26. Referring to FIG. 15b, the user may activate the plate assembly 44 using the user input device so that the plate assembly 44 is rotated to orient the selected the food product as shown at 142. Alternatively, the feed arm assembly 26 may be moved to access the selected food compartment 54 as described below.
The methodology advances to block 535 and the feed arm assembly 26 is instructed to retrieve the food item 8 from the selected food compartment 54 as shown in FIG. 15c at 144. The self-feeding device 10 automatically operates the feed arm assembly 26 to position the feeding utensil 110 with respect to the selected food compartment 54, and retrieves the food item 8 from the selected food compartment 54 using the feeding utensil 110. For example, the feed arm assembly may be actuated so that the feeding utensil 110 may scoop, or stab or otherwise position the food item 8 on the feeding utensil 110. The feed arm assembly 26 may scrape the feeding utensil 110 along the tab 58 as shown at 146 of FIG. 15d to avoid excess food on the feeding utensil 110. The feed arm assembly then transfers the selected food item to the user 12 such that the utensil 110 is within a predetermined distance from the user 12, i.e. as close to the users mouth as comfortable for the user to obtain the food from the utensil 110. For example, the user 12 may wear a sensing device 20 having a RFID transceiver 16 or the like, (such as a necklace or hand aide like patch under the chin, or on the chest or neck), while the self-feeding device 10 may contain a corresponding RFID transceiver 16 in communication with the controller 14. The controller 14 sends the feed arm assembly 26 an output signal representative of a distance or the coordinates which are closest to the RFID tag 20 worn by the user. During the retrieval and transfer of the selected food item, the feed arm assembly 26 is actuated by the actuators to pivot or articulate about each of the respective pivot axis associated with the arms of the feed arm assembly 26 to replicate the motion of a human arm while eating. The feed arm assembly 26 may return to a standby position after the user removes the food item from the utensil.
If the user selects a to take a drink, the feed arm assembly 26 is actuated, to position the open or straw end of the combined spoon and straw feeding utensil 124 in the user's mouth, and the user draws the liquid up through the tube 132 and the straw and into the user's mouth.
The order of the above described steps is for illustrative purposes, and it is contemplated that the order of the steps may be varied within the scope of this innovation.
Advantageously, the self-feeding device 10 is not limited to a single user 12, and any user 12 may simply sit down and use the device 10. The feeding device 10 adapts to and learns the identity of the user, i.e. via the identity sensor 24 or the like. In such an example, there will be no need for storing personal ergonomic settings. Further, if the device 10 is used in multiple locations, where table height, chair height and position differ, the feed arm assembly 26 may automatically accommodate those differences. The self-feeding device 10 may also be used in both a home and institutional setting. It should be appreciated that although an RFID tag 20 is described in this example, other technologies which are utilized for position determination may be likewise employed.
In yet another example of multiple users 12, a caregiver or supervisor 150 may monitor multiple users 12 concurrently as shown in FIG. 2. The system may perform additional functions related to gathering a variety of information, such as monitoring food intake of each user 12 (ex. utilizing a load cell to measure the amount of food or liquid which is consumed) and sending such information over a network to another entity, which may include: a nursing station, physician, nutritionist or server or the like. Additionally, the supervisor 150 may control operation of each individual self-feeding device 10. For example, the supervisor may likewise have a supervisor input device 152 with a signal transmission mechanism 16 such as an RFID transceiver, that will prohibit operation of the devices 10 unless a supervisor's RFID tag (e.g., situated as a wristband, necklace, card, etc.) is within a predetermined range of one or more of the devices 10. It should be appreciated that RFID or other technology may also be utilized to ensure that a caregiver or supervisor 150 is located proximate to the user 12 with the functionality of the self-feeding device 10 being inoperable unless the caregiver is located within a predetermined distance of the user 12, as an additional safety feature.
Referring back to FIG. 14, operation of the self-feeding device 10 by the user 12 is further illustrated as shown at 300. The user 12 selectively operates the user input mechanism 28 to send the appropriate input signal 118 to the controller 14, the signal is processed as previously described, and an output signal 120 is transmitted to accomplish the desired action. At step 305, the user or caregiver turns on the self-feeding device 10 by connecting a power source, or in this example moving a power switch to an “on” position.
At step 310, the self-feeding device 10 is in a READY position and the feed arm assembly 26 may be in a storage position 142. The READY position may be a feature of the STORAGE mode as previously described. Further, the READY mode may include a LEARN feature whereby the user may be identified using the identity sensor 24. In addition, the location of the user's moth may be determined using the displacement sensor 20 and a corresponding input signal is set to the controller 14 associated with the self-feeding device 10. The user may initiate a command while in the READY position using the user input device 28.
If the user 12 chooses a command by activating the user input device 28 i.e. by depressing the SELECT control, the user may select a food compartment. At step 320, the user may actuate the SELECT control and feed arm assembly may be moved to the storage position. At step 325, the user may actuate the SELECT control and the plate assembly or feed arm assembly may be rotated to offer access to the selected food compartment 54.
Advancing to step 330, the user may select a RETRIEVE mode, such as by actuating the EAT control once by the user 12. The plate assembly may be moved to at initial position as shown at block 335 and the user may select a food compartment to obtain the food product from. At step 340, the user may actuate the EAT control again to pick up the food item from the food compartment. At step 345 the feed arm assembly 26 may be actuated through a first transfer position through an (n−1) transfer positions to replicate the motion of the human arm. Thus, the feed arm assembly is articulated to acquire the food item 8 on the feeding utensil 110 and to move the food into the required proximity of the mouth of the user.
Advancing to step 360, the user may select a RELEASE function, whereby the food product is accessible by the use. The RELEASE function may be a feature of the RETRIEVE mode. For example, the user 12 may depress and hold the EAT control to initiate the RELEASE function. At step 365, the feed arm assembly 26 moves the feed utensil to place the food item 8 (i.e. liquid or solid) in the user's mouth, such as by articulating the feed utensil at a nth or in this example a fifth transfer position, to release the food item into the mouth of the user.
Advancing to step 370, if a STORAGE mode is desired, such as when the meal is done, the power switch may be moved to an “OFF” position. At step 375 the feed arm assembly automatically moves to a storage position 142. At step 380 the power is shut down. The user may selectively activate the user input device 28 to operate the self-feeding device 10, and the order of operation is selectively determined by the user.
Advantageously, the self-feeding device 10 increases the user's 12 sense of control, independence, and enjoyment of dining. Comfort is established by the stylish and ergonomic design of the self-feeding device 10. The feed arm assembly 26 of the present application is designed to emphasize the human factors normally experienced while eating. These may include items such as mimicking the typical dynamic and kinematic motions or eating, providing an aesthetic design consistent with most tableware, and providing an intuitive dining experience. The self-feeding device 10 may be fully programmable to specify the movement and position of the feeding arm assembly 26 to accommodate the user 12 in consideration of the height of the table and/or the height of the chair which the user 10 is sitting upon.
The present disclosure has been described in an illustrative manner. It is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present example are possible in light of the above teachings. Therefore, within the scope of the appended claims, the present disclosure may be practiced other than as specifically described.

## Claims

1. A self-feeding device, comprising:
a base assembly haying a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall;
a plate disposed on the upper housing wall of the base assembly, wherein the plate includes a food compartment having a food item located therein;
a feed arm assembly located on the base assembly, wherein the feed arm assembly includes a plurality of arms, with each arm being pivotally interconnected and each arm having corresponding predetermined degrees of freedom;
a feeding utensil coupled to the feed arm; and
a feed arm actuator that actuates the feed arm assembly based on a select food item signal from a user input device such that the feed arm assembly translates and rotates to obtain the selected food item from the food compartment via the feeding utensil, and to transfer the selected food item to the user based on a eat food item signal from the user input device.

2. A self-feeding device comprising:
a base assembly having a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall;
a plate disposed on the upper housing wall of the base assembly, wherein the plate includes a food compartment having a food item located therein;
a feed arm assembly located on the base assembly, wherein the feed arm assembly includes an arm moveable with a predetermined degree of freedom;
a feeding utensil coupled to the feed arm;
a feed arm actuator that actuates the feed arm assembly to obtain the food item from the food compartment via the feeding utensil, and to transfer the food item to the user; and
a sensing device that senses a location of the user's mouth and transmits a signal to a controller in communication with the feed arm assembly to position the feeding utensil based on the sensed location of the user's mouth.

3. The self-feeding device of claim 2 wherein the sensing device is an RFID transceiver and a first RFID transceiver is located on the self-feeding device and a second RFID transceiver is located on the user.

4. The self-feeding device of claim 1, wherein the plate includes a plurality of food compartments.

5. The self-feeding device of claim 1, further comprising a drive mechanism coupled to the plate, wherein the drive mechanism rotates the food compartment to a user selected food compartment position based on a signal from a user input device.

6. The self-feeding device of claim 1, further comprising a user input device that sends a signal to a controller to actuate the feed arm assembly and retrieve the food item located in the selected food compartment.

7. A self-feeding device, comprising:
a base assembly having a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall;
a plate disposed on the upper housing wall of the base assembly, wherein the plate includes a food compartment having a food item located therein;
a feed arm assembly located on the base assembly, wherein the feed arm assembly includes an arm moveable with a predetermined degree of freedom;
a feeding utensil coupled to the feed arm, wherein the feeding utensil includes an elongated shaft that is hollow and having an integrally formed spoon portion at one end for receiving a solid food item and an open opposed end for receiving a liquid food item; and
a feed arm actuator that actuates the feed arm assembly to obtain the food item from the food compartment via the feeding utensil, and to transfer the food item to the user.

8. The self-feeding device of claim 7, further comprising a beverage container, and a tube having one end located in the beverage container and a second end secured to a straw end of the feeding utensil.

9. The self-feeding device of claim 1, wherein the food compartment includes a tab extending upwardly at a predetermined angle into the food compartment.

10. The self-feeding device of claim 1, wherein the base assembly has a compact teardrop shape.

11. The self-feeding device of claim 1 wherein the feed arm assembly includes a plurality of arms that are pivotally interconnected about a corresponding pivot axis, and each arm has a corresponding arm actuator that controls movement of each arm about the corresponding pivot axis.

12. The self-feeding device of claim 1, further comprising a controller that is in communication with the sensing device and feed arm assembly to control the movement of the feed arm assembly between the food compartment and the user's mouth.

13. The self-feeding device of claim 12 wherein an identity of the user is stored in a memory associated with the controller.

14. The self-feeding device of claim 2, further comprising a drive mechanism coupled to the plate, wherein the drive mechanism rotates the food compartment to a user selected food compartment position based on a signal from a user input device.

15. The self-feeding device of claim 2, further comprising a user input device that sends a signal to a controller to actuate the feed arm assembly and retrieve the food item located in the selected food compartment.

16. The self-feeding device of claim 2 wherein the feed arm assembly includes a plurality of arms that are pivotally interconnected about a corresponding pivot axis, and each arm has a corresponding arm actuator that controls movement of each arm about the corresponding pivot axis.

17. The self-feeding device of claim 2 wherein an identity of the user, type of food and amount of food consumed by the user is stored in a memory associated with the controller.

18. A system for concurrently feeding a plurality of users, the system comprising:
a self-feeding device for each of the users, wherein each user's self-feeding device includes:
(a) a base assembly having a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the sidewall,
(b) a plate disposed on the upper housing wall of the base assembly, wherein the plate includes one or more food compartments for receiving a food item therein,
(c) a feed arm assembly located on the base assembly, wherein the feed arm assembly includes a plurality of arms, with each arm being pivotally interconnected and each arm having corresponding predetermined degrees of freedom;
(d) a feeding utensil coupled to the feed arm, and
(e) an actuator that sends an output signal to actuate the feed arm assembly based on a select food item signal from an input device such that the feed arm assembly translates and rotates to obtain the selected food item from the food compartment via the feeding utensil, and to transfer the selected food item to a user based on the select food item signal from the input device; and

an operator controller having a processor and a memory associated with the processor, wherein each of the self-feeding devices are operatively in communication with the operator controller to monitor each of the users.

19. The self-feeding device of claim 18 further comprising a user input device in communication with the controller located in the self-feeding device to select one of a SELECT mode, a RETRIEVE mode or a STORAGE mode.

20. The self-feeding device of claim 18, further comprising a drive mechanism coupled to the plate, wherein the drive mechanism rotates the plate to a selected food compartment position based on a signal from a user input device.

21. The self-feeding device of claim 18, wherein the base assembly has a teardrop shape.

22. A system for concurrently feeding a plurality of users, the system comprising:
a self-feeding device for each of the users, wherein each user's self-feeding device includes:
(a) a base assembly having a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the sidewall,
(b) a plate disposed on the upper housing wall of the base assembly, wherein the plate includes one or more food compartments for receiving a food item therein,
(c) a feed arm assembly located on the base assembly, wherein the feed arm assembly includes an arm moveable with a predetermined degree of freedom;
(d) a feeding utensil coupled to the feed arm, and
(e) a controller that sends an output signal to actuate the feed arm assembly to obtain the food item from the food compartment via the feeding utensil, and to transfer the food item to a user;
(f) a sensing device that senses a location of the user's mouth and transmits a signal to the user's self feeding device controller to position the feeding utensil based on the sensed location of the user's mouth; and

an operator controller having a processor and a memory associated with the processor, wherein each of the self-feeding devices are operatively in communication with the operator controller to monitor each of the users.

23. The self-feeding device of claim 22, further comprising a drive mechanism coupled to the plate, wherein the drive mechanism rotates the food compartment to a user selected food compartment position based on a signal from a user input device.

24. The self-feeding device of claim 22, further comprising a user input device that sends a signal to a controller to actuate the feed arm assembly and retrieve the food item located in the selected food compartment.

25. The self-feeding device of claim 22 wherein the feed arm assembly includes a plurality of arms that are pivotally interconnected about a corresponding pivot axis, and each arm has a corresponding arm actuator that controls movement of each arm about the corresponding pivot axis.

26. The self-feeding device of claim 22 wherein an identity of the user, type of food and amount of food consumed by the user is stored in a memory associated with the controller.

27. A method of feeding a user with a self-feeding device, said method including the steps of:
providing a self feeding device having:
(a) a base assembly having a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the sidewall,
(b) a plate disposed on the upper housing wall of the base assembly, wherein the plate includes a food compartment for receiving the food item therein,
(c) a feed arm assembly located on the base assembly, wherein the feed arm assembly includes a plurality of arms, with each arm being pivotally interconnected and each arm having corresponding predetermined degrees of freedom;
(d) a feeding utensil coupled to the feed arm;

providing a feed arm actuator that actuates the feed arm assembly based on a signal from a user input device such that the feed arm assembly translates and rotates to obtain the food item from the food compartment via the feeding utensil, and to transfer the food item to a user; and
providing a computer software program maintained in a processor associated with the self-feeding device to control operation of the feed arm assembly in a STORAGE mode, a SELECT mode, and a RETRIEVE mode based on a signal from the user input device.

28. The method of claim 27 further comprising the step of storing an identity of the user, type of food and amount of food consumed by the user within in a memory associated with the controller.

29. A method of feeding a user with a self-feeding device, said method comprising the steps of:
providing a self feeding device having:
(a) a base assembly having a housing, wherein the housing includes an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the sidewall,
(b) a plate disposed on the upper housing wall of the base assembly, wherein the plate includes a food compartment for receiving the food item therein,
(c) a feed arm assembly located on the base assembly, wherein the feed arm assembly includes an arm moveable with a predetermined degree of freedom;
(d) a feeding utensil coupled to the feed arm;

providing a feed arm actuator that actuates the feed arm assembly to obtain the food item from the food compartment via the feeding utensil, and to transfer the food item to a user;
providing a sensing device for sensing a location of the user's mouth and transmit a signal to the processor to position the feeding utensil based on the sensed location of the user's mouth; and
providing a computer software program maintained in a processor associated with the self-feeding device to control operation of the self-feeding device in a STORAGE mode, a SELECT mode, and a RETRIEVE mode.

30. The method of claim 29 further comprising the step of storing an identity of the user, type of food and amount of food consumed by the user within in a memory associated with the controller.